Position accuracy improvement using smart satellite vehicle selection

ABSTRACT

Techniques for improved GNSS positioning include leveraging approximate location information and information from sensors of a mobile device, and/or sensors communicatively coupled therewith, to detect obstructions and determine which SVs may be blocked from direct view. In particular, information from one or more cameras, LIDAR, radar, and/or other sensor systems can be used to determine how nearby obstructions may block the view of portions of the sky from the perspective of the mobile device, then compared with a SkyPlot of SVs based on the mobile device&#39;s approximate location to determine which SVs are likely blocked from view. A GNSS position determination of the mobile device can then be made by reducing the weight of information received from blocked (obstructed) SVs.

BACKGROUND

Mobile phones, vehicles, and other modern mobile devices often useposition information to provide various types of functionality. Oftentimes, these devices will use Global Navigation Satellite Systems(GNSS), such as Global positioning system (GPS) and/or similarsatellite-based positioning technologies to obtain this positioninginformation. Problematically, however, the performance of GNSSdrastically degrades if large parts of the sky are obstructed. Thistherefore occurs frequently in urban environments where large buildingsoften obstruct parts of the sky, causing GNSS to provide far lessaccurate positioning information. This less accurate positioninginformation, in turn, can result in poor functionality of mobiledevices.

These positioning errors in GNSS are largely due to multipath errors inreceived satellite signals. That is, satellite signals may reflect offof buildings or other objects and can travel a much longer path to themobile device, resulting in significant positioning errors. Detectingand excluding (or otherwise de-weighting) multipath signals frompositioning or location determinations may therefore be necessary forgood positioning performance in urban scenarios. Current techniques foridentifying and excluding multipath signals in a GNSS-based positiondetermination, however, are often not reliable.

BRIEF SUMMARY

Techniques described herein address these and other issues by leveragingapproximate location information and information from sensors of amobile device, and/or sensors communicatively coupled therewith, todetect obstructions and determine which SVs may be blocked from directview. In particular, information from one or more cameras, LIDAR, radar,and/or other sensor systems can be used to determine how nearbyobstructions may block the view of portions of the sky from theperspective of the mobile device, then compared with a SkyPlot of SVsbased on the mobile device's approximate location to determine which SVsare likely blocked from view. A GNSS position determination of themobile device can then be made by reducing the weight of informationreceived from blocked (obstructed) SVs.

An example method of GNSS position determination of a mobile device,according to the description, comprises obtaining a first positionestimate of the mobile device at a location, without using current GNSSdata. The method further comprises determining, based on the firstposition estimate, approximate locations of a plurality of satellitevehicle (SVs) in the sky, from a perspective of the mobile device, andobtaining sensor information regarding one or more obstructions, whereeach obstruction of the one or more obstructions obstructs a view of atleast a portion of the sky from the perspective of the mobile device,and the sensor information comprises a LIDAR image, a camera image, orboth. The method further comprises determining, based on the approximatelocations of the plurality of SVs and the sensor information regardingone or more obstructions, one or more obstructed SVs of the plurality ofSVs, obtaining satellite information from each SV of the plurality ofSVs, and determining a second position estimate of the mobile device.Determining the second position estimate comprises weighting therespective satellite information obtained from each of the one or moreobstructed SVs less than the respective satellite information obtainedfrom each of one or more unobstructed SVs of the plurality of SVs.

An example mobile device, according to the description, comprises aGlobal Navigation Satellite System (GNSS) receiver, a memory, and aprocessing unit communicatively coupled with the GNSS receiver and thememory. The processing unit is configured to obtain a first positionestimate of the mobile device at a location, without using current GNSSdata. The processing unit is further configured to determine, based onthe first position estimate, approximate locations of a plurality ofsatellite vehicle (SVs) in the sky, from a perspective of the mobiledevice, and obtain sensor information regarding one or moreobstructions, where each obstruction of the one or more obstructionsobstructs a view of at least a portion of the sky from the perspectiveof the mobile device, and the sensor information comprises a LIDARimage, a camera image, or both. The processing unit is also configuredto determine, based on the approximate locations of the plurality of SVsand the sensor information regarding one or more obstructions, one ormore obstructed SVs of the plurality of SVs, obtain, using the GNSSreceiver, satellite information from each SV of the plurality of SVs,and determine a second position estimate of the mobile device.Determining the second position estimate comprises weighting therespective satellite information obtained from each of the one or moreobstructed SVs less than the respective satellite information obtainedfrom each of one or more unobstructed SVs of the plurality of SVs.

An example device for making a Global Navigation Satellite System (GNSS)position determination of a mobile device, according to the description,comprises means for obtaining a first position estimate of the mobiledevice at a location, without using current GNSS data. The devicefurther comprises means for determining, based on the first positionestimate, approximate locations of a plurality of satellite vehicle(SVs) in the sky, from a perspective of the mobile device, and means forobtaining sensor information regarding one or more obstructions, whereeach obstruction of the one or more obstructions obstructs a view of atleast a portion of the sky from the perspective of the mobile device,and the sensor information comprises a LIDAR image, a camera image, orboth. The device further comprises means for determining, based on theapproximate locations of the plurality of SVs and the sensor informationregarding one or more obstructions, one or more obstructed SVs of theplurality of SVs, means for obtaining satellite information from each SVof the plurality of SVs, and means for determining a second positionestimate of the mobile device. The means for determining the secondposition estimate comprise means for means for weighting the respectivesatellite information obtained from each of the one or more obstructedSVs less than the respective satellite information obtained from each ofone or more unobstructed SVs of the plurality of SVs.

An example non-transitory, computer-readable medium, according to thedescription, comprises instructions stored thereby for Global NavigationSatellite System (GNSS) position determination of a mobile device. Theinstructions, when executed by one or more processors, cause the one ormore processors to obtain a first position estimate of the mobile deviceat a location, without using current GNSS data. The instructions, whenexecuted by one or more processors, further cause the one or moreprocessors to determine, based on the first position estimate,approximate locations of a plurality of satellite vehicle (SVs) in thesky, from a perspective of the mobile device, and obtain sensorinformation regarding one or more obstructions, where each obstructionof the one or more obstructions obstructs a view of at least a portionof the sky from the perspective of the mobile device, and the sensorinformation comprises a LIDAR image, a camera image, or both. Theinstructions, when executed by one or more processors, further cause theone or more processors to determine, based on the approximate locationsof the plurality of SVs and the sensor information regarding one or moreobstructions, one or more obstructed SVs of the plurality of SVs, obtainsatellite information from each SV of the plurality of SVs, anddetermine a second position estimate of the mobile device. Determiningthe second position estimate comprises weighting the respectivesatellite information obtained from each of the one or more obstructedSVs less than the respective satellite information obtained from each ofone or more unobstructed SVs of the plurality of SVs.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a simplified illustration provided to help illustrate theproblem of multipath in certain environments.

FIG. 2 is a flow diagram illustrating a method for a GNSS determinationof a mobile device, according to an embodiment.

FIG. 3 is an illustration of an example SkyPlot.

FIG. 4 is a perspective view of a scenario in which a mobile devicecomprising a vehicle can obtain information to estimate the heights ofnearby obstructions, according to an embodiment.

FIG. 5 is an illustration of a scenario in which a mobile device maygather sensor data regarding obstructions from a head-mounted displayHMD.

FIG. 6 is an illustration of a revised SkyPlot, showing how the SkyPlotof FIG. 3 can be revised to show how detected obstructions may obstructone or more of the plotted SV positions, according to an embodiment.

FIG. 7 is a flow diagram of a method of GNSS position determination of amobile device, according to an embodiment.

FIG. 8 is a block diagram of electrical components of a mobile device,according to an embodiment.

FIGS. 9A and 9B are perspective views of an example scenario,illustrating the azimuth angle and elevation angle of an obstruction.

Like reference symbols in the various drawings indicate like elements,in accordance with certain example implementations. In addition,multiple instances of an element may be indicated by following a firstnumber for the element with a letter or a hyphen and a second number.For example, multiple instances of an element 110 may be indicated as110-1, 110-2, 110-3 etc. or as 110 a, 110 b, 110 c, etc. When referringto such an element using only the first number, any instance of theelement is to be understood (e.g., element 110 in the previous examplewould refer to elements 110-1, 110-2, and 110-3 or to elements 110 a,110 b, and 110 c).

DETAILED DESCRIPTION

Several illustrative embodiments are described with respect to theaccompanying drawings, which form a part hereof. While particularembodiments, in which one or more aspects of the disclosure may beimplemented, are described below, other embodiments may be used andvarious modifications may be made without departing from the scope ofthe disclosure or the spirit of the appended claims.

FIG. 1 is a simplified illustration provided to help illustrate theproblem of multipath in urban environments (or other environments inwhich a view of the sky from the perspective of a mobile device may besimilarly obstructed). Here, a mobile device 110 (a vehicle) istraveling in an urban environment 120. To determine a position of themobile device 110, the mobile device 110 is equipped with a GNSSreceiver capable of receiving radio frequency (RF) signals 130-1 and130-2 (collectively and generically referred to as signals 130) fromcorresponding satellite vehicles (SVs) 140-1 and 140-2 (collectively andgenerically referred to as SVs 140).

Because the first signal 130-1 from the first SV 140-1 travels directlyfrom the SV 140-1 to the mobile device 110, the first signal 130-1 canbe reliably used by the GNSS receiver to provide accurate positioningfor the mobile device 110. On the other hand the second signal 130-2,with is transmitted from a second SV 140-2 is obstructed from directview by the mobile device 110, experiences multipath by reflecting offof a building 150, following an indirect route to the mobile device 110from the second SV 140-2. As noted, because this indirect route islonger than a direct route, the GNSS receiver at the mobile device 110may conclude the second SV 140-2 is further away, and generate a lessaccurate position determination than if the second signal 130-2 did notexperience multipath. The resulting position determination may be off bymany meters from the actual position of the mobile device 110. This canbe highly problematic for applications requiring a high degree ofaccuracy for the position determination, such as automated vehicledriving and navigation.

It can be noted that the scenario illustrated in FIG. 1 is greatlysimplified, as a person of ordinary skill in the art will appreciate.Signals from an unobstructed SV (e.g., first SV 140-1) for example, maystill experience multipath by traveling both direct and indirect pathsto the mobile device 110. However, multipath in these instances (inwhich a direct-path signal is detected) may be somewhat easy to correct.Thus, as generally referred to herein, the term “multipath” refers tosignals from obstructed SVs (e.g., signal 130-2 from 140-2) that take anindirect route to the mobile device 110.

Embodiments address these and other issues by leveraging approximatelocation information and information from additional sensors of themobile device 110 to determine which SVs 140 may be obstructed (blockedfrom direct view) from the point of view of the mobile device 110.Information from one or more cameras, LIDAR, radar, and/or other sensorsystems can be used to determine the height of surrounding obstructions,then compared with a SkyPlot of SVs 140 based on the mobile device'sapproximate location to determine which SVs 140 are likely blocked fromview. Information from signals 130 received from the blocked SVs, then,can be de-weighted accordingly.

FIG. 2 is a flow diagram illustrating a method 200 for a GNSSdetermination of a mobile device 110, according to an embodiment. Itwill be understood that alternative embodiments may perform variousfunctions into a different order than illustrated, depending on desiredfunctionality. For example, in some embodiments, the functionality ofblock 230 may be performed prior to or at the same time as thefunctionality illustrated in block 220. Means for performing the variousfunctions illustrated in the blocks of FIG. 2 may comprise hardwareand/or software elements of a mobile device 110, an example of which isshown in FIG. 8 and described in more detail below.

At block 210, the functionality comprises estimating a coarse positionof the mobile device 110. This coarse position can be based on non-GNSSdata, one or more network-based positioning methods (e.g., Positioningusing Wi-Fi access point ID, cell ID, Observed Time Difference OfArrival (OTDOA), Positioning Reference Signals (PRS), and the like),dead reckoning (e.g., based on motion data and a previously-knownposition), camera-based positioning (e.g., identifying objects withknown positions in images) or the like. Depending on positioning methodused, this may involve communicating with other devices, such as anaccess point, base station, positioning server, etc. Additionally oralternatively, it may use sensors and/or devices incorporated into themobile device 110 and/or communicatively coupled therewith.

At block 220, a SkyPlot is constructed in which the locations of SVs inthe sky, relative to the estimated coarse position of the mobile device110. That is, using SV orbital data and the estimated coarse position ofthe mobile device 110, the elevation and azimuth of various SVs can bedetermined.

FIG. 3 is an illustration of an example SkyPlot 300 in which the SVpositions 310 of the various SVs viewable by the mobile device 110 atthe estimated coarse position are shown, according to an embodiment. (Toavoid clutter, only a few SV positions 310 are labeled in FIG. 3.) As aperson of ordinary skill in the art will appreciate, the SkyPlot 300indicates azimuth along the circumference of the SkyPlot (labeled 0°,90°, 180°, and 270°), and elevation within the SkyPlot itself (labeled0°, 15°, 30°, 45°, 60°, 75°, and 90°). Each SV position 310 plotted onthe SkyPlot 300, therefore, represents the respective azimuth andelevation of an SV 140, relative to the mobile device 110.

Because the various SV positions 310 may be obtained with respect to anabsolute reference frame (e.g., the east north up (ENU) reference frame)or other reference frame not associated with the mobile device 110, anorientation of the mobile device 110 with respect to the reference framemay further be determined, to determine the SV positions with respect tothe mobile device 110. Orientation information of the mobile device 110may be determined using an inertial measurement unit (IMU),magnetometer, map information, and/or other sources.

Referring again to FIG. 2, the functionality at block 230 comprisesestimating heights of obstructions and the angular view of the top ofthe obstructions using sensor data. According to some embodiments, thismay be used to create a 3-D reconstruction of the obstructions 420 thatmay be used as described in further detail below. Here, the varioussensors of the mobile device 110 can be leveraged to obtain thisinformation. Automated vehicles and mobile phones, for example, bothcome with a large variety of sensors that may be used to obtain thisinformation. Further, as noted in more detail below, information fromsensors of other devices communicatively coupled with the mobile device110 additionally or alternatively may be used.

FIG. 4 is a perspective view of a scenario in which a mobile devicecomprising a vehicle 410 can obtain information to estimate the heightsof nearby obstructions 420, according to an embodiment. Here, thevehicle 410 may include one or more cameras, LIDAR, or radar capable ofscanning obstructions 420 within the respective sensor fields of view(FOVs) 430 to determine their height. It will be understood that,although obstructions 420 are illustrated as buildings, obstructions 420additionally or alternatively may comprise trees, towers, walls, and/orother objects that may block the view of the sky from the perspective ofthe vehicle 410.

Where LIDAR is available, for example, it can be particularly helpful.Because LIDAR is capable of providing 3-D information (e.g., a 3-D pointcloud) of a scanned area within the sensor FOV 430 of the LIDAR, theinformation can be particularly useful when creating a 3-Dreconstruction of the obstructions 420. Additionally, LIDAR can providemore information than a visible camera in situations of heavy fog, rain,night, or simply bad lighting.

That said, embodiments may additionally or alternatively use camerainformation. That is, using one or more cameras disposed on the vehicle410, the vehicle 410 can take one or more images of the environmentwithin the sensor FOV 430 of each camera. Further, images may not belimited to visible light, but may additionally or alternatively utilizeinfrared (IR) and/or ultraviolet (UV) frequencies, depending on desiredfunctionality.

Some embodiments may use radar to obtain height and angle information ofthe obstructions 420 in the vehicle's environment. Currently, radar hasthe potential of giving longer-range information then LIDAR, and may beadvantageous over cameras in situations of adverse weather or lightingconditions that make reduce the reliability of camera images.

To provide a more robust solution, data from multiple sensors and/orsensor types may be fused to provide a more complete picture of thenearby obstructions 420. For example, images multiple cameras coveringseparate sensor FOVs 430 may be stitched together to provide a largerimage with a larger FOV. In some configurations, cameras located atvarious points on the vehicle 410 may be capable of providing image datafor the full 360° around the vehicle 410. Data from radar and LIDAR maybe similarly stitched together. Moreover, data from different sensortypes can be fused to more accurately determine the height, distance,and/or width of the obstructions 420 detected by both sensor types. Forexample, where an obstruction 420 is detected by both camera and LIDAR,data from both the camera and LIDAR may be used to accurately determinea height of the obstruction 420. Using a multi-sensor approach in thismanner may provide a more robust solution than using any single sensoralone. Optical data from a camera, for example, may be used to getinformation regarding obstructions further away, whereas LIDAR and/orradar may be used to gather more accurate information for nearbyobstructions 420. Some embodiments may be able to use one sensor ormultiple sensors, depending on the availability of the sensors, qualityof sensor information, and/or other factors.

As noted, embodiments are not limited to vehicles. A mobile device 110may comprise any of a variety of mobile electronic devices having (or incommunication with) sensors capable of providing height informationregarding surrounding obstructions 420.

FIG. 5, for example, is an illustration of a scenario in which a mobiledevice 110 (not shown) comprises a cellular phone carried by the user520 and communicatively coupled with an HMD 510. (Alternatively, themobile device may comprise the HMD 510 itself.) Here, the cellular-phonemay be a in the pocket of a user 520, and therefore unable to takeimages of its surroundings using cameras that may be integrated into themobile device 110. However, because it is communicatively coupled withthe HMD 510, it still may be able to obtain images of the obstructions420 from a camera of the HMD 510, which can take images of obstructions420 in the camera FOV 530. Because the HMD 510, worn by the user 520, isat substantially the same location as the mobile device 110 (alsocarried by the user 520), the determined position of the obstructions420 with respect to the HMD 510 (as determined from images taken by acamera of the HMD 510) may be assumed to be the approximate position ofthe obstructions 420 with respect to the mobile device 110. (That said,if a relative position of the HMD 510 is known with respect to themobile device 110, some embodiments may account for this difference whendetermining the position of the obstructions 420 with respect to themobile device 110.) It can be noted that the techniques described withregard to FIG. 5 are not limited to an HMD 510, and may be applied toother types of wearable devices capable of providing a mobile devicewith an image of one or more surrounding obstructions 420. Such devicesmay include, for example, smart watches, smart hats, and/or other typesof wearable sensors having cameras integrated there with.

Obtaining image and/or other sensor information may vary, depending ondesired functionality. In some embodiments where the mobile device 110comprises a cellular phone communicatively coupled with an HMD 510, forexample, a user 520 may be prompted to look in certain directions toenable image capture of all obstructions 420 nearby, or in directionswhere data regarding obstructions 420 may be lacking. Additionally oralternatively, the mobile device 110 (e.g., vehicle 410, cellular phone,etc.) may use a camera and/or other sensors opportunistically. That is,because other hardware and/or software of the mobile device 110 mayutilize sensors for other purposes, embodiments may employ softwareand/or hardware on the mobile device 110 (e.g., a software applicationor “app”) to gather sensor information collected by one or more sensorsduring the course of regular operation and/or activate/employ sensorswhen they are not otherwise being used.

Depending on desired functionality, the information regardingobstructions 420 can be used in multiple ways to determine howobstructions may impact signals received from SVs 130 at the various SVpositions 310 of a SkyPlot 300. According to some embodiments, forexample, angle information regarding surrounding obstructions 420 alonemay be sufficient to determine an angular view of the top of theobstructions 420 to determine how obstructions 420 impact signalsreceived at the current location of the mobile device 110. (In suchinstances, the estimated heights need not be determined at block 230 ofFIG. 2.) However, as previously noted, some embodiments may additionallyor alternatively create a 3-D reconstruction of the nearby obstructions420, allowing the mobile device 110 to further determine how theobstructions 420 may impact signals received by the mobile device 110after the mobile device 110 has moved. In so doing, embodiments mayprovide a more robust solution for determining multipath for SVs 130 inan area, without the need to constantly obtain sensor data to accountfor mobile device movement.

To create a 3-D reconstruction of nearby obstructions 420, a mobiledevice 110 can measure or estimate the height, distance, and width ofthe obstruction 420 in any of a variety of ways. This can vary,depending on the type of sensor data available to the mobile device 110.For example, some mobile devices (e.g., a vehicle 410) may be able toobtain LIDAR data regarding obstructions 420, which can provide 3-Dinformation (e.g., a 3-D point cloud) natively, based on round-triptime.

Camera information may be used differently. Stereoscopic cameras, forexample, may be able to provide depth information for each pixel in astereoscopic image. Otherwise, two cameras may be used to take a pictureof a single obstruction 420 and determine height based on the focallength of the cameras and relative position of each camera. Thisinformation can then be used together with the images to determine theheight and width of the obstruction 420. As a person of ordinary skillin the art will appreciate, a similar process may be used by a singlecamera taking images at two locations, where distance between thelocations is known (e.g., by using an IMU and/or other sensors to trackmovement between capture of each image).

Referring again to FIG. 2, with the dimensions (e.g., heights, distancesand widths) of the obstructions estimated at block 230, the method 200can continue to block 240, where the functionality comprises determiningobstructed SVs based on the SkyPlot constructed in block 220 and areconstruction of the obstructions. FIG. 6 illustrates an example of howthis can be done.

FIG. 6 is an illustration of a revised SkyPlot 600, illustrating how theSkyPlot 300 of FIG. 3 can be revised to show how obstructions 420 mayimpact signals 130 from SVs 140 at various SV positions 610, accordingto an embodiment. Here, the SV positions 610 corresponds to the SVpositions 310 of FIG. 3. (Again, not all SV positions 610 are labeled,to help reduce clutter.) Additionally, however, the revised SkyPlot 600includes obstruction positions 620 indicating how the variousobstructions 420 block a view of the sky from the position of the mobiledevice 110, based on the sensor data regarding the surroundingobstructions 420. According to some embodiments, the obstructionpositions 620 can be represented on the SkyPlot 600 based on informationobtained from a 3-D reconstruction of the obstructions 420.

According to some embodiments, 3-D reconstruction of the obstructions420 can be mapped onto the revised SkyPlot 600 by determining azimuthand elevation angles of an obstruction, based on the determined height,width, and distance of the obstruction. As illustrated in FIGS. 9A and9B, the azimuth angle of an obstruction 910 is based on the width of theobstruction 420, and the elevation angle of the obstruction 920 is basedon the height of the obstruction 420. According to some embodiments, the3-D reconstruction of an obstruction, and its corresponding obstructionpositions 620 in the revised SkyPlot 600 may accommodate non-rectangularobstructions, where the azimuth angle of obstruction 910 varies with theheight of the obstruction 420, and/or the elevation angle of theobstruction 920 may varies with the width of the obstruction 420.

According to some embodiments, the revised sky plot 600 may be used todetermine which SVs 140 may be obstructed from view by the mobile device110 by determining whether an SV positions 610 overlaps with anobstruction positions 620. Accordingly, as the positions 610 may fallinto two groups: obstructed SV positions 630 and unobstructed SVpositions 640. Signals 130 from SVs 140 at unobstructed SV positions 640are unlikely to cause multipath errors, and may therefore be used by themobile device 110 for a GNSS position determination. On the other hand,signals 130 from SVs 140 at obstructed SV positions 630, if detected,are likely experiencing multipath and can reduce the accuracy of a GNSSposition determination.

With this in mind, and referring again to FIG. 2, the functionality atblock 250 comprises de-weighing data from SVs determined to beobstructed. That is, depending on desired functionality, informationreceived from signals 130 from SVs 140 determined to be at obstructed SVpositions 630 can be given a reduced amount of weight in the GNSSposition determination, or ignored entirely. Where a reduced amount ofweight is given, embodiments may employ multipath error correctionand/or other corrective techniques to help increase the accuracy ofinformation received from obstructed SVs 140.

Finally, at block 260, a GNSS position fix can be obtained by using datafrom at least the unobstructed SVs. As used herein, a “GNSS positionfix” for a location refers to a determination of the position of themobile device 110 based on GNSS data received by the mobile device 110at the location. As a person of ordinary skill in the art willappreciate, after obtaining a GNSS position fix, the GNSS position fixcan then be used by the mobile device 110 (e.g., by softwareapplications running on the mobile device) and/or communicated toanother device.

FIG. 7 is a flow diagram of a method 700 of GNSS position determinationof a mobile device, according to an embodiment. The method 700 maytherefore represent a way in which the process 200 of FIG. 2 may beimplemented, according to some embodiments. Means for performing thevarious functions illustrated in the blocks of FIG. 2 may comprisehardware and/or software elements of a mobile device, an example ofwhich is shown in FIG. 8 and described in more detail below.

At block 710, the functionality includes obtaining a first positionestimate of the mobile device at a location, without using current GNSSdata. As indicated in the previously-described embodiments (e.g., inreference to block 210 of FIG. 2), this first position estimate maycomprise a rough initial location estimate based on other positioningmethods, such as any of the previously-described positioning techniques(Wi-Fi-based positioning, cellular-based positioning, dead reckoning, orany combination thereof). In some embodiments, previously-obtained GNSSdata may be used as a basis for dead reckoning, but a new GNSS positionfix is not yet obtained for the current position. Thus, no current GNSSdata is used. In other words, in some embodiments, the first positionestimate may comprise a coarse position based on a previously-obtainedGNSS position fix and/or other positioning data (motion data, etc.). Insome embodiments, a time threshold may also be used to determine whetherGNSS data is current. That is, previously-obtained GNSS data may nolonger be current if a threshold amount of time has lapsed since thepreviously-obtained GNSS data was obtained.

Means for performing the functionality at block 710 may include one ormore software and/or hardware components of a mobile device. Thesecomponents may include, for example, a bus 805, processing unit(s) 810,wireless communication interface 830, sensor(s) 840, memory 860, inputdevice(s) 870, and/or other software and/or hardware components of amobile device 110 as illustrated in FIG. 8 and described in more detailbelow. The wireless communication interface 830, for instance, may beused for providing Wi-Fi-based and/or cellular-based positioning basedon respective Wi-Fi and/or cellular signals received by respective Wi-Fiand/or cellular transceivers of the wireless medication interface 830.As previously noted, such wireless positioning techniques may involvesource-based and/or timing-based positioning, including but not limitedto Cell-ID, enhanced Cell-ID, OTDOA based on PRS signals, etc.

The functionality at block 720 comprises determining, based on the firstposition estimate, approximate locations of a plurality of SVs in thesky, from the perspective of the mobile device. As explained with regardto FIG. 3, this may comprise using known orbital data for SVs todetermine an initial SkyPlot, in which SV positions are determined withrespect to azimuth and elevation angles, from the perspective of themobile device. As a person of ordinary skill in the art will appreciate,the azimuth angles of the SkyPlot may be provided with respect to theposition of the mobile device (e.g., where 0° represents the bearing ofthe mobile device) or an separate coordinate frame (e.g., an ENUreference frame where 0° represents true north). In the latter case, theorientation of the mobile device with respect to the separate coordinateframe can then be taken into account to determine the SV positions withrespect to the orientation of the mobile device. Because orbital datamay be dependent on a time of day, determining the approximate locationsof a plurality of SVs from the perspective of the mobile device maybefurther based on an orientation of the mobile device and a time of day.This information can be obtained by sensors, clocks, and/or othercomponents of the mobile device, as discussed in the embodiments above.In some embodiments, for example, the method 700 may further comprisedetermining the orientation of the mobile device based on data from oneor more motion sensors of the mobile device.

Means for performing the functionality at block 720 may include one ormore software and/or hardware components of a mobile device. Thesecomponents may include, for example, a bus 805, processing unit(s) 810,memory 860, input device(s) 870, and/or other software and/or hardwarecomponents of a mobile device 110 as illustrated in FIG. 8 and describedin more detail below.

At block 730, sensor information regarding one or more obstructions isobtained, where each obstruction of the one or more obstructionsobstructs of view of at least a portion of the sky from the perspectiveof the mobile device, and the sensor information comprises a LIDARimage, a camera image, or both. As previously noted, a mobile device mayobtain LIDAR and/or camera images to determine nearby obstructions thatmay be blocking the view of the sky from the perspective of the mobiledevice. Sensor information, including the LIDAR and/or camera image, maybe obtained from a device separate from, but in communication with, themobile device. As previously explained with regard to FIG. 5, forinstances where the mobile device comprises a mobile phone, the mobilephone may be communicatively coupled with a wearable device, such as anHMD. The mobile phone can then obtain one or more camera images from thewearable device, if needed. In some embodiments, for example, the mobilephone can determine to obtain images from the wearable device (and/oranother separate device) if cameras integrated into the mobile phone areunable to capture images of the obstructions. That is, according to someembodiments, the method may comprise, for mobile device comprising amobile phone, determining that a camera of the mobile device is not inthe state to obtain information regarding the one or more obstructions,and, responsive to determining that the camera of the mobile device isnot in the state to obtain the information regarding one or moreobstructions, obtaining the camera image from the camera of the separatedevice. For embodiments where the mobile device comprises a vehicle, thesensor information may comprise a plurality of camera images taken by arespective plurality of cameras of the vehicle. This can include, forexample, forward-facing cameras, side-facing cameras, backward-facingcameras and/or upward-facing cameras, from the perspective of thevehicle.

Depending on desired functionality, the sensor information may compriseraw sensor data and/or data derived therefrom. Sensor information maytherefore include LIDAR and/or camera images, combinations of LIDARimages or camera images that have been “stitched” together, and/or LIDARin camera images that have been fused. In some embodiments, obtainingthe sensor information may comprise determining a height of each of theone or more obstructions, which can be determined as indicated above,based on LIDAR images and/or camera images.

Means for performing the functionality at block 730 may include one ormore software and/or hardware components of a mobile device. Thesecomponents may include, for example, a bus 805, processing unit(s) 810,wireless communication interface 830, sensor(s) 840, memory 860, inputdevice(s) 870, and/or other software and/or hardware components of amobile device 110 as illustrated in FIG. 8 and described in more detailbelow.

At block 740, the functionality comprises determining, based on theapproximate locations of the plurality of SVs and the sensor informationregarding one or more obstructions, one or more obstructed SVs of theplurality of SVs. For example, this may comprise determining how thevarious obstructions block the view of the sky, and whether there areany SVs 140 positioned within the blocked portions of the sky. Aspreviously described, this may comprise determining a revised SkyPlot,as illustrated and described above with regard to FIG. 6. This canenable the determination of which SV positions are obstructed and whichare not.

Means for performing the functionality at block 740 may include one ormore software and/or hardware components of a mobile device. Thesecomponents may include, for example, a bus 805, processing unit(s) 810,memory 860, and/or other software and/or hardware components of a mobiledevice 110 as illustrated in FIG. 8 and described in more detail below.

The functionality of block 750 comprises obtaining satellite informationfrom each SV of the plurality of SVs. Here, information provided bysignals from combination of obstructed and unobstructed SVs. That is,the plurality of SVs for which approximate locations are determined atblock 720 may include obstructed and unobstructed SVs. It will beunderstood, however, that the approximate locations of additional SVsmay be determined at block 720 for which no information is obtained(e.g., obstructed SVs for which no reflected or multipath signal isreceived at all).

Means for performing the functionality at block 750 may include one ormore software and/or hardware components of a mobile device. Thesecomponents may include, for example, a bus 805, processing unit(s) 810,memory 860, GNSS receiver 880, and/or other software and/or hardwarecomponents of a mobile device 110 as illustrated in FIG. 8 and describedin more detail below.

At block 760, the method 700 comprises determining a second positionestimate of the mobile device, wherein determining the second positionestimate comprises weighting the respective satellite informationobtained from each of the one or more obstructed SVs less than therespective satellite information obtained from each of the one or moreunobstructed SVs of the plurality of SVs. This may include a GNSSposition fix in which the information from the obstructed SVs isdeweighted or disregarded entirely. That is, in some embodiments,weighting the respective information obtained from each of the one ormore obstructed SVs may comprise reducing an initial weight of therespective satellite information obtained from each of the one or moreobstructed SVs or disregarding the respective satellite informationentirely.

Means for performing the functionality at block 760 may include one ormore software and/or hardware components of a mobile device. Thesecomponents may include, for example, a bus 805, processing unit(s) 810,memory 860, GNSS receiver 880, and/or other software and/or hardwarecomponents of a mobile device 110 as illustrated in FIG. 8 and describedin more detail below.

FIG. 8 is a block diagram of electrical components of a mobile device110, according to an embodiment, which can be utilized as describedherein above (e.g. in association with FIGS. 1-7). For example, themobile device 110 can perform one or more of the functions of methods ofFIG. 2 and/or FIG. 7. It should be noted that FIG. 8 is meant to providea generalized illustration of various components, any or all of whichmay be utilized as appropriate. It can be noted that, in some instances,components illustrated by FIG. 8 can be localized to a single physicaldevice (e.g., integrated into a mobile phone) or distributed at variouslocations of the mobile device 110 (e.g., at various locations on avehicle). Furthermore, the components illustrated in FIG. 8 may compriseonly a portion of the electrical components of a mobile device 110.Where the mobile device 110 comprises a vehicle, for example, thevehicle may comprise additional components and/or systems to controlfunctions such as steering, breaking, automated driving, dashboardinput/output, etc.

The mobile device 110 is shown comprising hardware elements that can beelectrically coupled via a bus 805 (or may otherwise be incommunication, as appropriate). The hardware elements may include aprocessing unit(s) 810 which can include without limitation one or moregeneral-purpose processors, one or more special-purpose processors (suchas digital signal processing (DSP) chips, graphics accelerationprocessors, application specific integrated circuits (ASICs), and/or thelike), and/or other processing structure or means. Locationdetermination and/or other determinations based on wirelesscommunication may be provided in the processing unit(s) 810 and/orwireless communication interface 830 (discussed below). The mobiledevice 110 also can include one or more input devices 870, which caninclude without limitation a keyboard, touch screen, a touch pad,microphone, button(s), dial(s), switch(es), and/or the like; and one ormore output devices 815, which can include without limitation a display,light emitting diode (LED), speakers, and/or the like.

The mobile device 110 may also include a wireless communicationinterface 830, which may comprise without limitation a modem, a networkcard, an infrared communication device, a wireless communication device,and/or a chipset (such as a Bluetooth® device, an IEEE 802.11 device, anIEEE 802.15.4 device, a Wi-Fi device, a WiMAX device, a Wide AreaNetwork (WAN) device and/or various cellular devices, etc.), and/or thelike, which may enable the mobile device 110 to communicate viacellular, Wi-Fi, and/or other networks as described herein. The wirelesscommunication interface 830 may permit data to be communicated (e.g.transmitted and received) with network components, computer systems,and/or any other electronic devices described herein as well as privateand/or public networks (e.g., the Internet). The communication can becarried out via one or more wireless communication antenna(s) 832 thatsend and/or receive wireless signals 834.

Depending on desired functionality, the wireless communication interface830 may comprise separate transceivers to communicate with terrestrialtransceivers, such as wireless devices, base stations, and accesspoints. The mobile device 110 may communicate with different datanetworks that may comprise various network types. For example, aWireless Wide Area Network (WWAN) may be a Code Division Multiple Access(CDMA) network, a Time Division Multiple Access (TDMA) network, aFrequency Division Multiple Access (FDMA) network, an OrthogonalFrequency Division Multiple Access (OFDMA) network, a Single-CarrierFrequency Division Multiple Access (SC-FDMA) network, a WiMAX (IEEE802.16) network, and so on. A CDMA network may implement one or moreradio access technologies (RATs) such as CDMA2000, Wideband CDMA(WCDMA), and so on. Cdma2000 includes IS-95, IS-2000, and/or IS-856standards. A TDMA network may implement GSM, Digital Advanced MobilePhone System (D-AMPS), or some other RAT. An OFDMA network may employLTE, LTE Advanced, 5G NR, and so on. 5G NR, LTE, LTE Advanced, GSM, andWCDMA are described in documents from 3GPP. Cdma2000 is described indocuments from a consortium named “3rd Generation Partnership Project 2”(3GPP2). 3GPP and 3GPP2 documents are publicly available. A wirelesslocal area network (WLAN) may also be an IEEE 802.11x network, and awireless personal area network (WPAN) may be a Bluetooth network, anIEEE 802.15x, or some other type of network. The techniques describedherein may also be used for any combination of WWAN, WLAN and/or WPAN.

The mobile device 110 can further include sensor(s) 840. As described inthe embodiments above, sensors may comprise one or more componentscapable of obtaining information regarding obstructions surrounding themobile device. This can include, for example, a camera, LIDAR, radar,and/or other such components. Sensor(s) 840 may additionally include oneor more other sensors used in the operation of the mobile device 110,including, without limitation, one or more accelerometers, gyroscopes,magnetometers, altimeters, microphones, proximity sensors (e.g.,infrared (IR) or sonar), light sensors, barometers, and the like), someof which may be used to complement and/or facilitate the positiondetermination described herein, in some instances.

Embodiments of the mobile device 110 may also include a GNSS receiver880 capable of receiving signals 884 from one or more GNSS satellites(e.g., signals 130 from one or more SVs 140) using an antenna 882 (whichmay comprise the same as antenna 832, depending on desiredfunctionality). Positioning based on GNSS signal measurement can beutilized to complement and/or incorporate the techniques describedherein. The GNSS receiver 880 can extract a position of the mobiledevice 110, using conventional techniques, from GNSS SVs of one or moreGNSS systems, such as Global Positioning System (GPS), Galileo, GlobalNavigation Satellite System (GLONASS), Quasi-Zenith Satellite System(QZSS) over Japan, IRNSS over India, Beidou over China, and/or the like.Moreover, the GNSS receiver 880 can be used with various augmentationsystems (e.g., a Satellite Based Augmentation System (SBAS)) that may beassociated with or otherwise enabled for use with one or more globaland/or regional navigation satellite systems, such as, e.g., Wide AreaAugmentation System (WAAS), European Geostationary Navigation OverlayService (EGNOS), Multi-functional Satellite Augmentation System (MSAS),and Geo Augmented Navigation system (GAGAN), and/or the like.

The mobile device 110 may further include and/or be in communicationwith a memory 860. The memory 860 can include, without limitation, localand/or network accessible storage, a disk drive, a drive array, anoptical storage device, a solid-state storage device, such as a randomaccess memory (RAM), and/or a read-only memory (ROM), which can beprogrammable, flash-updateable, and/or the like. Such storage devicesmay be configured to implement any appropriate data stores, includingwithout limitation, various file systems, database structures, and/orthe like.

The memory 860 of the mobile device 110 also can comprise softwareelements (not shown in FIG. 8), including an operating system, devicedrivers, executable libraries, and/or other code, such as one or moreapplication programs, which may comprise computer programs provided byvarious embodiments, and/or may be designed to implement methods, and/orconfigure systems, provided by other embodiments, as described herein.Merely by way of example, one or more procedures described with respectto the method(s) discussed above may be implemented as code and/orinstructions in memory 860 that are executable by the mobile device 110(and/or processing unit(s) 810 within mobile device 110). In an aspect,then, such code and/or instructions can be used to configure and/oradapt a general purpose computer (or other device) to perform one ormore operations in accordance with the described methods.

It will be apparent to those skilled in the art that substantialvariations may be made in accordance with specific requirements. Forexample, customized hardware might also be used, and/or particularelements might be implemented in hardware, software (including portablesoftware, such as applets, etc.), or both. Further, connection to othercomputing devices such as network input/output devices may be employed.

With reference to the appended figures, components that can includememory can include non-transitory machine-readable media. The term“machine-readable medium” and “computer-readable medium” as used herein,refer to any storage medium that participates in providing data thatcauses a machine to operate in a specific fashion. In embodimentsprovided hereinabove, various machine-readable media might be involvedin providing instructions/code to processing units and/or otherdevice(s) for execution. Additionally or alternatively, themachine-readable media might be used to store and/or carry suchinstructions/code. In many implementations, a computer-readable mediumis a physical and/or tangible storage medium. Such a medium may takemany forms, including but not limited to, non-volatile media, volatilemedia, and transmission media. Common forms of computer-readable mediainclude, for example, magnetic and/or optical media, any other physicalmedium with patterns of holes, a (RAM), a Programmable ROM (PROM),Erasable Programmable Read-Only Memory (EPROM), a FLASH-EPROM, any othermemory chip or cartridge, a carrier wave as described hereinafter, orany other medium from which a computer can read instructions and/orcode.

The methods, systems, and devices discussed herein are examples. Variousembodiments may omit, substitute, or add various procedures orcomponents as appropriate. For instance, features described with respectto certain embodiments may be combined in various other embodiments.Different aspects and elements of the embodiments may be combined in asimilar manner. The various components of the figures provided hereincan be embodied in hardware and/or software. Also, technology evolvesand, thus, many of the elements are examples that do not limit the scopeof the disclosure to those specific examples.

It has proven convenient at times, principally for reasons of commonusage, to refer to such signals as bits, information, values, elements,symbols, characters, variables, terms, numbers, numerals, or the like.It should be understood, however, that all of these or similar terms areto be associated with appropriate physical quantities and are merelyconvenient labels. Unless specifically stated otherwise, as is apparentfrom the discussion above, it is appreciated that throughout thisSpecification discussions utilizing terms such as “processing,”“computing,” “calculating,” “determining,” “ascertaining,”“identifying,” “associating,” “measuring,” “performing,” or the likerefer to actions or processes of a specific apparatus, such as a specialpurpose computer or a similar special purpose electronic computingdevice. In the context of this Specification, therefore, a specialpurpose computer or a similar special purpose electronic computingdevice is capable of manipulating or transforming signals, typicallyrepresented as physical electronic, electrical, or magnetic quantitieswithin memories, registers, or other information storage devices,transmission devices, or display devices of the special purpose computeror similar special purpose electronic computing device.

Terms, “and” and “or” as used herein, may include a variety of meaningsthat also is expected to depend at least in part upon the context inwhich such terms are used. Typically, “or” if used to associate a list,such as A, B, or C, is intended to mean A, B, and C, here used in theinclusive sense, as well as A, B, or C, here used in the exclusivesense. In addition, the term “one or more” as used herein may be used todescribe any feature, structure, or characteristic in the singular ormay be used to describe some combination of features, structures, orcharacteristics. However, it should be noted that this is merely anillustrative example and claimed subject matter is not limited to thisexample. Furthermore, the term “at least one of” if used to associate alist, such as A, B, or C, can be interpreted to mean any combination ofA, B, and/or C, such as A, AB, AA, AAB, AABBCCC, etc.

Having described several embodiments, various modifications, alternativeconstructions, and equivalents may be used without departing from thespirit of the disclosure. For example, the above elements may merely bea component of a larger system, wherein other rules may take precedenceover or otherwise modify the application of the various embodiments.Also, a number of steps may be undertaken before, during, or after theabove elements are considered. Accordingly, the above description doesnot limit the scope of the disclosure.

What is claimed is:
 1. A method of Global Navigation Satellite System(GNSS) position determination of a mobile device, the method comprising:obtaining a first position estimate of the mobile device at a location,without using current GNSS data; determining, based on the firstposition estimate, approximate locations of a plurality of satellitevehicle (SVs) in the sky, from a perspective of the mobile device;obtaining sensor information regarding one or more obstructions,wherein: each obstruction of the one or more obstructions obstructs aview of at least a portion of the sky from the perspective of the mobiledevice, and the sensor information comprises a LIDAR image, a cameraimage, or both; determining, based on the approximate locations of theplurality of SVs and the sensor information regarding one or moreobstructions, one or more obstructed SVs of the plurality of SVs;obtaining satellite information from each SV of the plurality of SVs;and determining a second position estimate of the mobile device, whereindetermining the second position estimate comprises weighting therespective satellite information obtained from each of the one or moreobstructed SVs less than the respective satellite information obtainedfrom each of one or more unobstructed SVs of the plurality of SVs. 2.The method of claim 1, wherein weighting the respective informationobtained from each of the one or more obstructed SVs less than therespective satellite information obtained from each of one or moreunobstructed SVs of the plurality of SVs comprises disregarding ordeweighting the respective satellite information obtained from each ofthe one or more obstructed SVs.
 3. The method of claim 1, wherein: themobile device comprises a mobile phone communicatively coupled with aseparate device having a camera; and the sensor information comprises acamera image from the camera of the separate device.
 4. The method ofclaim 3, further comprising: determining that a camera of the mobiledevice is not in a state to obtain information regarding the one or moreobstructions, and responsive to determining that the camera of themobile device is not in a state to obtain the information regarding theone or more obstructions, obtaining the camera image from the camera ofthe separate device.
 5. The method of claim 3, wherein the separatedevice comprises a wearable device.
 6. The method of claim 1, whereinthe mobile device comprises a vehicle and the sensor informationcomprises a plurality of camera images taken by a respective pluralityof cameras of the vehicle.
 7. The method of claim 1, wherein the firstposition estimate is determined using: a coarse position based on apreviously-obtained GNSS position fix, Wi-Fi-based positioning,cellular-based positioning, or dead reckoning, or any combinationthereof.
 8. The method of claim 1, wherein obtaining the sensorinformation comprises determining a height, distance, and width of eachof the one or more obstructions.
 9. The method of claim 1, whereindetermining the approximate locations of a plurality of SVs from theperspective of the mobile device is further based on an orientation ofthe mobile device and a time of day.
 10. The method of claim 9, furthercomprising determining the orientation of the mobile device based ondata from one or more motion sensors of the mobile device.
 11. Themethod of claim 10, further comprising determining an azimuth angle ofan obstruction of the one or more obstructions based on the orientationand a determined width of the obstruction.
 12. A mobile devicecomprising: a Global Navigation Satellite System (GNSS) receiver; amemory; and one or more processing units communicatively coupled withthe GNSS receiver and the memory and configured to: obtain a firstposition estimate of the mobile device at a location, without usingcurrent GNSS data; determine, based on the first position estimate,approximate locations of a plurality of satellite vehicle (SVs) in thesky, from a perspective of the mobile device; obtain sensor informationregarding one or more obstructions, wherein: each obstruction of the oneor more obstructions obstructs a view of at least a portion of the skyfrom the perspective of the mobile device, and the sensor informationcomprises a LIDAR image, a camera image, or both; determine, based onthe approximate locations of the plurality of SVs and the sensorinformation regarding one or more obstructions, one or more obstructedSVs of the plurality of SVs; obtain, using the GNSS receiver, satelliteinformation from each SV of the plurality of SVs; and determine a secondposition estimate of the mobile device, wherein, to determine the secondposition estimate, the one or more processing units is configured toweight the respective satellite information obtained from each of theone or more obstructed SVs less than the respective satelliteinformation obtained from each of one or more unobstructed SVs of theplurality of SVs.
 13. The mobile device of claim 12, wherein, to weightthe respective information obtained from each of the one or moreobstructed SVs less than the respective satellite information obtainedfrom each of one or more unobstructed SVs of the plurality of SVs, theone or more processing units is configured to disregard or deweight therespective satellite information obtained from each of the one or moreobstructed SVs.
 14. The mobile device of claim 12, further comprising acommunication interface, wherein: the communication interface isconfigured to be communicatively coupled with a separate device having acamera; and to obtain the sensor information, the one or more processingunits is configured to obtain a camera image received from the camera ofthe separate device via the communication interface.
 15. The mobiledevice of claim 14, further comprising a camera, wherein the one or moreprocessing units is further configured to: determine that the camera ofthe mobile device is not in a state to obtain information regarding theone or more obstructions, and responsive to a determination that thecamera of the mobile device is not in a state to obtain the informationregarding the one or more obstructions, obtain the camera image from thecamera of the separate device.
 16. The mobile device of claim 12,wherein: the mobile device comprises a vehicle; and to obtain the sensorinformation regarding one or more obstructions, the one or moreprocessing units is configured to obtain a plurality of camera imagestaken by a respective plurality of cameras of the vehicle.
 17. Themobile device of claim 12, wherein, to obtain the first positionestimate, the one or more processing units is configured to use: acoarse position based on a previously-obtained GNSS position fix,Wi-Fi-based positioning, cellular-based positioning, or dead reckoning,or any combination thereof.
 18. The mobile device of claim 12, wherein,to obtain the sensor information, the one or more processing units isconfigured to determine a height, distance, and width of each of the oneor more obstructions.
 19. The mobile device of claim 12, wherein, todetermine the approximate locations of a plurality of SVs from theperspective of the mobile device, the one or more processing units isconfigured to determine an orientation of the mobile device and a timeof day.
 20. The mobile device of claim 19, wherein the one or moreprocessing units is further configured to determine the orientation ofthe mobile device based on data from one or more motion sensors of themobile device.
 21. The mobile device of claim 20, wherein the one ormore processing units is further configured to determine an azimuthangle of an obstruction of the one or more obstructions based on theorientation and a determined width of the obstruction.
 22. A device formaking a Global Navigation Satellite System (GNSS) positiondetermination of a mobile device, the device comprising: means forobtaining a first position estimate of the mobile device at a location,without using current GNSS data; means for determining, based on thefirst position estimate, approximate locations of a plurality ofsatellite vehicle (SVs) in the sky, from a perspective of the mobiledevice; means for obtaining sensor information regarding one or moreobstructions, wherein: each obstruction of the one or more obstructionsobstructs a view of at least a portion of the sky from the perspectiveof the mobile device, and the sensor information comprises a LIDARimage, a camera image, or both; means for determining, based on theapproximate locations of the plurality of SVs and the sensor informationregarding one or more obstructions, one or more obstructed SVs of theplurality of SVs; means for obtaining satellite information from each SVof the plurality of SVs; and means for determining a second positionestimate of the mobile device, wherein the means for determining thesecond position estimate comprise means for means for weighting therespective satellite information obtained from each of the one or moreobstructed SVs less than the respective satellite information obtainedfrom each of one or more unobstructed SVs of the plurality of SVs. 23.The device of claim 22, wherein the means for weighting the respectiveinformation obtained from each of the one or more obstructed SVs lessthan the respective satellite information obtained from each of one ormore unobstructed SVs of the plurality of SVs comprise means fordisregarding or deweighting the respective satellite informationobtained from each of the one or more obstructed SVs.
 24. The device ofclaim 22, wherein the means for obtaining sensor information comprisemeans for obtaining a camera image from a camera of a device separatefrom the mobile device.
 25. The device of claim 22, further comprisingmeans for determining the first position estimate by using: a coarseposition based on a previously-obtained GNSS position fix, Wi-Fi-basedpositioning, cellular-based positioning, or dead reckoning, or anycombination thereof.
 26. The device of claim 22, wherein the means forobtaining the sensor information comprises means for determining aheight, distance, and width of each of the one or more obstructions. 27.The device of claim 22, wherein the means for determining theapproximate locations of a plurality of SVs from the perspective of themobile device further comprises means for determining an orientation ofthe mobile device and a time of day.
 28. A non-transitory,computer-readable medium having instructions stored thereby for GlobalNavigation Satellite System (GNSS) position determination of a mobiledevice, wherein the instructions, when executed by one or moreprocessors, cause the one or more processors to: obtain a first positionestimate of the mobile device at a location, without using current GNSSdata; determine, based on the first position estimate, approximatelocations of a plurality of satellite vehicle (SVs) in the sky, from aperspective of the mobile device; obtain sensor information regardingone or more obstructions, wherein: each obstruction of the one or moreobstructions obstructs a view of at least a portion of the sky from theperspective of the mobile device, and the sensor information comprises aLIDAR image, a camera image, or both; determine, based on theapproximate locations of the plurality of SVs and the sensor informationregarding one or more obstructions, one or more obstructed SVs of theplurality of SVs; obtain satellite information from each SV of theplurality of SVs; and determine a second position estimate of the mobiledevice, wherein determining the second position estimate comprisesweighting the respective satellite information obtained from each of theone or more obstructed SVs less than the respective satelliteinformation obtained from each of one or more unobstructed SVs of theplurality of SVs.
 29. The non-transitory, computer-readable medium ofclaim 28, wherein the instructions for causing the one or moreprocessors to weight obtain the sensor comprise instructions for causingthe one or more processors to obtain a camera image from a camera of adevice separate from the mobile device.
 30. The non-transitory,computer-readable medium of claim 29, further comprising instructionsthat, when executed by the one or more processors, cause the one or moreprocessors to: determine that a camera of the mobile device is not in astate to obtain information regarding the one or more obstructions, andresponsive to determining that the camera of the mobile device is not ina state to obtain the information regarding the one or moreobstructions, obtaining the camera image from the camera of the deviceseparate from the mobile device.